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  <h1>01 树莓派3B+的Docker环境搭建</h1>

<h2 id="_1">笔记说明<a class="headerlink" href="#_1" title="Permanent link">&para;</a></h2>
<p>笔记主要是要记录如何使用树莓派进行linux的驱动开发，主要是学习记录ARMLinux板子的驱动开发。由于不想破坏原来的电脑环境，或者说想尽量**使得编译环境一致**，我们使用Docker虚拟环境进行编译。虚拟环境主要编译，文件处理还是使用宿主机。关于Docker可以网上找点其他教程简易入门。</p>
<p>当然，你也可以不使用docker，直接在宿主机编译，没有任何问题。</p>
<p>主要参考的文章</p>
<p><a href="https://gitee.com/peng_zhihui/Planck-Pi#1-f1cxxxs%E8%8A%AF%E7%89%87%E7%9A%84%E4%B8%8A%E7%94%B5%E5%90%AF%E5%8A%A8%E9%A1%BA%E5%BA%8F">peng-zhihui/Planck-Pi</a></p>
<p><a href="https://github.com/Philon/rpi-drivers">Philon/rpi-drivers</a></p>
<p>本节源码路径<code>02_Firmware/01_helloworld</code></p>
<h2 id="_2">环境搭建<a class="headerlink" href="#_2" title="Permanent link">&para;</a></h2>
<p><strong>注意</strong>：处理文档都在宿主机下，只有编译才使用Docker环境，因为我用vscode远程连接虚拟机编辑文档的话，如果是Docker解压处理的文档，就权限不足，所以处理文档就在宿主机下。</p>
<p>提前安装好docker，下载镜像的时候，去https://xuanyuan.me/blog/archives/1154?from=tencent，关注加速列表。</p>
<p>安装docker的话根据官网一步步走下来就可以了</p>
<p><a href="https://docs.docker.com/engine/install/ubuntu/#set-up-the-repository">Install Docker Engine on Ubuntu | Docker Docs</a></p>
<h3 id="docker">将用户添加到 Docker 组<a class="headerlink" href="#docker" title="Permanent link">&para;</a></h3>
<p>在Ubuntu系统上，需要在运行Docker命令时添加 sudo 是因为 Docker 守护进程默认以 root 用户权限运行。Docker 执行一些需要特权权限的操作，如访问系统资源、管理容器、构建镜像、挂载文件系统等，以确保安全性和系统稳定性。如果希望不每次都使用 sudo 运行 Docker 命令，可以将当前用户加入 docker 组。</p>
<p>运行以下命令将当前用户添加到docker组中：</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>sudo<span class="w"> </span>usermod<span class="w"> </span>-aG<span class="w"> </span>docker<span class="w"> </span><span class="nv">$USER</span>
</span></code></pre></div>
<p>注销并重新登录，或者运行以下命令使更改生效（我这里运行命令没生效，重启才可以）</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-1-1"><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>sudo<span class="w"> </span>service<span class="w"> </span>docker<span class="w"> </span>restart
</span><span id="__span-1-2"><a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>newgrp<span class="w"> </span>docker
</span></code></pre></div>
<p>确保用户$USER 已经成功添加到 docker 组。(自己输入自己的用户名)，可以使用以下命令检查</p>
<div class="language-text highlight"><pre><span></span><code><span id="__span-2-1"><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>id $USER
</span></code></pre></div>
<h3 id="_3">配置镜像环境<a class="headerlink" href="#_3" title="Permanent link">&para;</a></h3>
<p>我这里选择的镜像源是docker.1ms.run，到时候不一定能用，注意关注我前面说的镜像表。</p>
<p>下载ubuntu镜像</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-3-1"><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>sudo<span class="w"> </span>docker<span class="w"> </span>pull<span class="w"> </span>docker.1ms.run/ubuntu:20.04
</span></code></pre></div>
<p>启动一个交互式的容器，使用名为 "rpi3b-plus-env"，并将本地主机上的 SDK 目录映射到容器内的 /home 目录，最后以 Bash shell 运行。</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-4-1"><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a><span class="c1">#第一次运行docker环境</span>
</span><span id="__span-4-2"><a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>sudo<span class="w"> </span>docker<span class="w"> </span>run<span class="w"> </span>-it<span class="w"> </span>--name<span class="w"> </span>rpi3b-plus-env<span class="w"> </span><span class="se">\</span>
</span><span id="__span-4-3"><a id="__codelineno-4-3" name="__codelineno-4-3" href="#__codelineno-4-3"></a>-p<span class="w"> </span><span class="m">8022</span>:22<span class="w"> </span><span class="se">\</span>
</span><span id="__span-4-4"><a id="__codelineno-4-4" name="__codelineno-4-4" href="#__codelineno-4-4"></a>-v<span class="w"> </span>/home/lqh/rpi3b_plus_workspace:/home<span class="w"> </span><span class="se">\</span>
</span><span id="__span-4-5"><a id="__codelineno-4-5" name="__codelineno-4-5" href="#__codelineno-4-5"></a>docker.1ms.run/ubuntu:20.04<span class="w"> </span>/bin/bash
</span><span id="__span-4-6"><a id="__codelineno-4-6" name="__codelineno-4-6" href="#__codelineno-4-6"></a>
</span><span id="__span-4-7"><a id="__codelineno-4-7" name="__codelineno-4-7" href="#__codelineno-4-7"></a><span class="c1">#第二次运行docker环境</span>
</span><span id="__span-4-8"><a id="__codelineno-4-8" name="__codelineno-4-8" href="#__codelineno-4-8"></a>sudo<span class="w"> </span>docker<span class="w"> </span>start<span class="w"> </span>-ai<span class="w"> </span>rpi3b-plus-env
</span><span id="__span-4-9"><a id="__codelineno-4-9" name="__codelineno-4-9" href="#__codelineno-4-9"></a>
</span><span id="__span-4-10"><a id="__codelineno-4-10" name="__codelineno-4-10" href="#__codelineno-4-10"></a><span class="c1">#退出</span>
</span><span id="__span-4-11"><a id="__codelineno-4-11" name="__codelineno-4-11" href="#__codelineno-4-11"></a><span class="nb">exit</span>
</span></code></pre></div>
<p>进入容器后需要换源，先安装一个vim。安装前需要软件库更新，不然都没有软件。</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-5-1"><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>apt-get<span class="w"> </span>update
</span><span id="__span-5-2"><a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>apt-get<span class="w"> </span>install<span class="w"> </span>vim
</span></code></pre></div>
<p>然后执行<code>vim /etc/apt/sources.list</code>，换成你当时想要的源，可以是<a href="https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/">清华源</a>，或者其他源。下面是ubuntu20的清华源</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-6-1"><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>deb<span class="w"> </span>https://mirrors.tuna.tsinghua.edu.cn/ubuntu/<span class="w"> </span>focal<span class="w"> </span>main<span class="w"> </span>restricted<span class="w"> </span>universe<span class="w"> </span>multiverse
</span><span id="__span-6-2"><a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a><span class="c1"># deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse</span>
</span><span id="__span-6-3"><a id="__codelineno-6-3" name="__codelineno-6-3" href="#__codelineno-6-3"></a>deb<span class="w"> </span>https://mirrors.tuna.tsinghua.edu.cn/ubuntu/<span class="w"> </span>focal-updates<span class="w"> </span>main<span class="w"> </span>restricted<span class="w"> </span>universe<span class="w"> </span>multiverse
</span><span id="__span-6-4"><a id="__codelineno-6-4" name="__codelineno-6-4" href="#__codelineno-6-4"></a><span class="c1"># deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse</span>
</span><span id="__span-6-5"><a id="__codelineno-6-5" name="__codelineno-6-5" href="#__codelineno-6-5"></a>deb<span class="w"> </span>https://mirrors.tuna.tsinghua.edu.cn/ubuntu/<span class="w"> </span>focal-backports<span class="w"> </span>main<span class="w"> </span>restricted<span class="w"> </span>universe<span class="w"> </span>multiverse
</span><span id="__span-6-6"><a id="__codelineno-6-6" name="__codelineno-6-6" href="#__codelineno-6-6"></a><span class="c1"># deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse</span>
</span><span id="__span-6-7"><a id="__codelineno-6-7" name="__codelineno-6-7" href="#__codelineno-6-7"></a>
</span><span id="__span-6-8"><a id="__codelineno-6-8" name="__codelineno-6-8" href="#__codelineno-6-8"></a>deb<span class="w"> </span>http://security.ubuntu.com/ubuntu/<span class="w"> </span>focal-security<span class="w"> </span>main<span class="w"> </span>restricted<span class="w"> </span>universe<span class="w"> </span>multiverse
</span><span id="__span-6-9"><a id="__codelineno-6-9" name="__codelineno-6-9" href="#__codelineno-6-9"></a><span class="c1"># deb-src http://security.ubuntu.com/ubuntu/ focal-security main restricted universe multiverse</span>
</span><span id="__span-6-10"><a id="__codelineno-6-10" name="__codelineno-6-10" href="#__codelineno-6-10"></a>
</span><span id="__span-6-11"><a id="__codelineno-6-11" name="__codelineno-6-11" href="#__codelineno-6-11"></a><span class="c1"># deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse</span>
</span><span id="__span-6-12"><a id="__codelineno-6-12" name="__codelineno-6-12" href="#__codelineno-6-12"></a><span class="c1"># # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse</span>
</span></code></pre></div>
<p>换源完成后，更新</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-7-1"><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>apt-get<span class="w"> </span>update
</span></code></pre></div>
<p>这个时候应该会报一个错误<code>Certificate verification failed: The certificate is NOT trusted.</code>，证书的问题这时候执行以下操作。</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-8-1"><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a><span class="c1"># 把之前换源的https换成http</span>
</span><span id="__span-8-2"><a id="__codelineno-8-2" name="__codelineno-8-2" href="#__codelineno-8-2"></a>vim<span class="w"> </span>/etc/apt/sources.list
</span><span id="__span-8-3"><a id="__codelineno-8-3" name="__codelineno-8-3" href="#__codelineno-8-3"></a>
</span><span id="__span-8-4"><a id="__codelineno-8-4" name="__codelineno-8-4" href="#__codelineno-8-4"></a><span class="c1"># 更新一下</span>
</span><span id="__span-8-5"><a id="__codelineno-8-5" name="__codelineno-8-5" href="#__codelineno-8-5"></a>apt-get<span class="w"> </span>update
</span><span id="__span-8-6"><a id="__codelineno-8-6" name="__codelineno-8-6" href="#__codelineno-8-6"></a>
</span><span id="__span-8-7"><a id="__codelineno-8-7" name="__codelineno-8-7" href="#__codelineno-8-7"></a><span class="c1"># 安装证书</span>
</span><span id="__span-8-8"><a id="__codelineno-8-8" name="__codelineno-8-8" href="#__codelineno-8-8"></a>apt-get<span class="w"> </span>install<span class="w"> </span>--reinstall<span class="w"> </span>ca-certificates
</span><span id="__span-8-9"><a id="__codelineno-8-9" name="__codelineno-8-9" href="#__codelineno-8-9"></a>
</span><span id="__span-8-10"><a id="__codelineno-8-10" name="__codelineno-8-10" href="#__codelineno-8-10"></a><span class="c1"># 把之前换源的http换成https</span>
</span><span id="__span-8-11"><a id="__codelineno-8-11" name="__codelineno-8-11" href="#__codelineno-8-11"></a>vim<span class="w"> </span>/etc/apt/sources.list
</span><span id="__span-8-12"><a id="__codelineno-8-12" name="__codelineno-8-12" href="#__codelineno-8-12"></a>
</span><span id="__span-8-13"><a id="__codelineno-8-13" name="__codelineno-8-13" href="#__codelineno-8-13"></a><span class="c1"># 更新一下</span>
</span><span id="__span-8-14"><a id="__codelineno-8-14" name="__codelineno-8-14" href="#__codelineno-8-14"></a>apt-get<span class="w"> </span>update
</span></code></pre></div>
<p>安装需要的软件</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-9-1"><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a>apt-get<span class="w"> </span>install<span class="w"> </span>xz-utils<span class="w"> </span>nano<span class="w"> </span>wget<span class="w"> </span>unzip<span class="w"> </span>build-essential<span class="w"> </span>git<span class="w"> </span>bc<span class="w"> </span>swig<span class="w"> </span>libncurses5-dev<span class="w"> </span>libpython3-dev<span class="w"> </span>libssl-dev<span class="w"> </span>pkg-config<span class="w"> </span>zlib1g-dev<span class="w"> </span>libusb-dev<span class="w"> </span>libusb-1.0-0-dev<span class="w"> </span>python3-pip<span class="w"> </span>gawk<span class="w"> </span>bison<span class="w"> </span>flex<span class="w"> </span>
</span></code></pre></div>
<p>安装编译工具链</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-10-1"><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>apt<span class="w"> </span>install<span class="w"> </span>gcc-arm-linux-gnueabihf
</span></code></pre></div>
<p>安装完成后可以使用，以下指令查看是否安装成功。</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-11-1"><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a>arm-linux-gnueabihf-gcc<span class="w"> </span>-v
</span></code></pre></div>
<p>配置完成后可以commit容器到镜像方便未来部署：</p>
<div class="language-text highlight"><pre><span></span><code><span id="__span-12-1"><a id="__codelineno-12-1" name="__codelineno-12-1" href="#__codelineno-12-1"></a>sudo docker commit rpi3b-plus-env rpi3b-plus-env.image
</span><span id="__span-12-2"><a id="__codelineno-12-2" name="__codelineno-12-2" href="#__codelineno-12-2"></a>sudo docker save -o rpi3b-plus-env.image.tar rpi3b-plus-env.image
</span></code></pre></div>
<p>如果是其他计算机导入的话</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-13-1"><a id="__codelineno-13-1" name="__codelineno-13-1" href="#__codelineno-13-1"></a>docker<span class="w"> </span>load<span class="w"> </span>-i<span class="w"> </span>rpi3b-plus-env.image.tar
</span><span id="__span-13-2"><a id="__codelineno-13-2" name="__codelineno-13-2" href="#__codelineno-13-2"></a>
</span><span id="__span-13-3"><a id="__codelineno-13-3" name="__codelineno-13-3" href="#__codelineno-13-3"></a><span class="c1"># 或者使用</span>
</span><span id="__span-13-4"><a id="__codelineno-13-4" name="__codelineno-13-4" href="#__codelineno-13-4"></a>
</span><span id="__span-13-5"><a id="__codelineno-13-5" name="__codelineno-13-5" href="#__codelineno-13-5"></a>docker<span class="w"> </span>load<span class="w"> </span>&lt;<span class="w"> </span>rpi3b-plus-env.image.tar
</span></code></pre></div>
<p>然后建立新环境的时候就可以</p>
<div class="language-bash highlight"><pre><span></span><code><span id="__span-14-1"><a id="__codelineno-14-1" name="__codelineno-14-1" href="#__codelineno-14-1"></a><span class="c1">#第一次运行docker环境</span>
</span><span id="__span-14-2"><a id="__codelineno-14-2" name="__codelineno-14-2" href="#__codelineno-14-2"></a>sudo<span class="w"> </span>docker<span class="w"> </span>run<span class="w"> </span>-it<span class="w"> </span>--name<span class="w"> </span>rpi3b-plus-env<span class="w"> </span><span class="se">\</span>
</span><span id="__span-14-3"><a id="__codelineno-14-3" name="__codelineno-14-3" href="#__codelineno-14-3"></a>-p<span class="w"> </span><span class="m">8022</span>:22<span class="w"> </span><span class="se">\</span>
</span><span id="__span-14-4"><a id="__codelineno-14-4" name="__codelineno-14-4" href="#__codelineno-14-4"></a>-v<span class="w"> </span>/home/lqh/rpi3b_plus_workspace:/home<span class="w"> </span><span class="se">\</span>
</span><span id="__span-14-5"><a id="__codelineno-14-5" name="__codelineno-14-5" href="#__codelineno-14-5"></a>rpi3b-plus-env.image:latest<span class="w"> </span>/bin/bash
</span></code></pre></div>
<h2 id="_4">简易测试<a class="headerlink" href="#_4" title="Permanent link">&para;</a></h2>
<h3 id="_5">下载内核源码<a class="headerlink" href="#_5" title="Permanent link">&para;</a></h3>
<p>我们处理文件在宿主机上面进行处理，主要宿主机远程连接，才可以修改文件内容，如果直接在Docker容器里面的话，他的权限会导致必须要root才能处理，不是很方便，后面想办法解决这个问题。</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-15-1"><a id="__codelineno-15-1" name="__codelineno-15-1" href="#__codelineno-15-1"></a><span class="c1"># 在宿主机中</span>
</span><span id="__span-15-2"><a id="__codelineno-15-2" name="__codelineno-15-2" href="#__codelineno-15-2"></a><span class="nb">cd</span><span class="w"> </span>/home/lqh/rpi3b_plus_workspace/
</span><span id="__span-15-3"><a id="__codelineno-15-3" name="__codelineno-15-3" href="#__codelineno-15-3"></a><span class="c1"># 下载内核源码</span>
</span><span id="__span-15-4"><a id="__codelineno-15-4" name="__codelineno-15-4" href="#__codelineno-15-4"></a>wget<span class="w"> </span>https://github.com/raspberrypi/linux/archive/rpi-6.6.y.tar.gz
</span><span id="__span-15-5"><a id="__codelineno-15-5" name="__codelineno-15-5" href="#__codelineno-15-5"></a><span class="c1"># 解压，进入内核目录</span>
</span><span id="__span-15-6"><a id="__codelineno-15-6" name="__codelineno-15-6" href="#__codelineno-15-6"></a>tar<span class="w"> </span>xvf<span class="w"> </span>rpi-6.6.y.tar.gz<span class="w">  </span>
</span><span id="__span-15-7"><a id="__codelineno-15-7" name="__codelineno-15-7" href="#__codelineno-15-7"></a>
</span><span id="__span-15-8"><a id="__codelineno-15-8" name="__codelineno-15-8" href="#__codelineno-15-8"></a><span class="c1"># 在Docker环境中</span>
</span><span id="__span-15-9"><a id="__codelineno-15-9" name="__codelineno-15-9" href="#__codelineno-15-9"></a><span class="nb">cd</span><span class="w"> </span>/home/linux-rpi-6.6.y
</span><span id="__span-15-10"><a id="__codelineno-15-10" name="__codelineno-15-10" href="#__codelineno-15-10"></a><span class="c1"># 清理内核</span>
</span><span id="__span-15-11"><a id="__codelineno-15-11" name="__codelineno-15-11" href="#__codelineno-15-11"></a>make<span class="w"> </span>mrproper
</span><span id="__span-15-12"><a id="__codelineno-15-12" name="__codelineno-15-12" href="#__codelineno-15-12"></a><span class="c1"># 加载RPi-3B+的配置</span>
</span><span id="__span-15-13"><a id="__codelineno-15-13" name="__codelineno-15-13" href="#__codelineno-15-13"></a>make<span class="w"> </span><span class="nv">ARCH</span><span class="o">=</span>arm<span class="w"> </span><span class="nv">CROSS_COMPILE</span><span class="o">=</span>arm-linux-gnueabihf-<span class="w"> </span>bcm2709_defconfig
</span><span id="__span-15-14"><a id="__codelineno-15-14" name="__codelineno-15-14" href="#__codelineno-15-14"></a><span class="c1"># 编译</span>
</span><span id="__span-15-15"><a id="__codelineno-15-15" name="__codelineno-15-15" href="#__codelineno-15-15"></a>make<span class="w"> </span><span class="nv">ARCH</span><span class="o">=</span>arm<span class="w"> </span><span class="nv">CROSS_COMPILE</span><span class="o">=</span>arm-linux-gnueabihf-<span class="w"> </span>-j4
</span></code></pre></div>
<h3 id="_6">更换内核<a class="headerlink" href="#_6" title="Permanent link">&para;</a></h3>
<p>我安装的树莓派固件版本是</p>
<div class="language-bash highlight"><pre><span></span><code><span id="__span-16-1"><a id="__codelineno-16-1" name="__codelineno-16-1" href="#__codelineno-16-1"></a>pi@raspberrypi:~/RpiDriver/01_helloworld<span class="w"> </span>$<span class="w"> </span>uname<span class="w"> </span>-a
</span><span id="__span-16-2"><a id="__codelineno-16-2" name="__codelineno-16-2" href="#__codelineno-16-2"></a>Linux<span class="w"> </span>raspberrypi<span class="w"> </span><span class="m">6</span>.6.51+rpt-rpi-v7<span class="w"> </span><span class="c1">#1 SMP Raspbian 1:6.6.51-1+rpt3 (2024-10-08) armv7l GNU/Linux</span>
</span></code></pre></div>
<p>但是我拉取github源码的话，他是6.6.62版本。所以找了资料，重新换内核。下面的步骤<a href="https://blog.csdn.net/Hopeless_Loop/article/details/133907371">参考博客</a>，但是他是树莓派4B，我是3B+，所以有些不同。</p>
<p>你们的版本应该大概率也会不一样，如果版本不一样会报错无法加载内核。所以需要换内核</p>
<p>进入下载的树莓派源代码目录，设置环境变量KERNEL，并使用make指定bcm2711_defconfig配置模板生成arm架构32位的配置文件。</p>
<p>注意：树莓派版本不同，这里设置的环境变量KERNEL不同，所使用的配置模板也不同，其他型号的具体参数设置请参考<a href="https://www.raspberrypi.com/documentation/computers/linux_kernel.html#kernel">链接</a>。</p>
<p>在docker环境中</p>
<div class="language-bash highlight"><pre><span></span><code><span id="__span-17-1"><a id="__codelineno-17-1" name="__codelineno-17-1" href="#__codelineno-17-1"></a><span class="nb">cd</span><span class="w"> </span>linux-rpi-6.6.y
</span><span id="__span-17-2"><a id="__codelineno-17-2" name="__codelineno-17-2" href="#__codelineno-17-2"></a><span class="nv">KERNEL</span><span class="o">=</span>kernel7
</span><span id="__span-17-3"><a id="__codelineno-17-3" name="__codelineno-17-3" href="#__codelineno-17-3"></a>make<span class="w"> </span><span class="nv">ARCH</span><span class="o">=</span>arm<span class="w"> </span><span class="nv">CROSS_COMPILE</span><span class="o">=</span>arm-linux-gnueabihf-<span class="w"> </span>bcm2709_defconfig
</span><span id="__span-17-4"><a id="__codelineno-17-4" name="__codelineno-17-4" href="#__codelineno-17-4"></a>make<span class="w"> </span><span class="nv">ARCH</span><span class="o">=</span>arm<span class="w"> </span><span class="nv">CROSS_COMPILE</span><span class="o">=</span>arm-linux-gnueabihf-<span class="w"> </span>zImage<span class="w"> </span>modules<span class="w"> </span>dtbs<span class="w"> </span>-j4
</span></code></pre></div>
<p>把树莓派关机，然后卡取下来，插到虚拟机上，使用<code>lsblk</code>，会发现它的两个分区，一个是boot分区小一点，一个是文件系统分区大一点，我这里，boot是sdb1，rootfs是sdb2。然后在宿主机的linux-rpi-6.6.y文件夹做以下操作。</p>
<div class="language-bash highlight"><pre><span></span><code><span id="__span-18-1"><a id="__codelineno-18-1" name="__codelineno-18-1" href="#__codelineno-18-1"></a>sudo<span class="w"> </span>mkdir<span class="w"> </span>mnt
</span><span id="__span-18-2"><a id="__codelineno-18-2" name="__codelineno-18-2" href="#__codelineno-18-2"></a>sudo<span class="w"> </span>mkdir<span class="w"> </span>mnt/fat32
</span><span id="__span-18-3"><a id="__codelineno-18-3" name="__codelineno-18-3" href="#__codelineno-18-3"></a>sudo<span class="w"> </span>mkdir<span class="w"> </span>mnt/ext4
</span><span id="__span-18-4"><a id="__codelineno-18-4" name="__codelineno-18-4" href="#__codelineno-18-4"></a>sudo<span class="w"> </span>mount<span class="w"> </span>/dev/sdb1<span class="w"> </span>mnt/fat32
</span><span id="__span-18-5"><a id="__codelineno-18-5" name="__codelineno-18-5" href="#__codelineno-18-5"></a>sudo<span class="w"> </span>mount<span class="w"> </span>/dev/sdb2<span class="w"> </span>mnt/ext4
</span></code></pre></div>
<p>然后加载刚刚编译好的模块</p>
<div class="language-bash highlight"><pre><span></span><code><span id="__span-19-1"><a id="__codelineno-19-1" name="__codelineno-19-1" href="#__codelineno-19-1"></a><span class="nv">KERNEL</span><span class="o">=</span>kernel7
</span><span id="__span-19-2"><a id="__codelineno-19-2" name="__codelineno-19-2" href="#__codelineno-19-2"></a>sudo<span class="w"> </span>env<span class="w"> </span><span class="nv">PATH</span><span class="o">=</span><span class="nv">$PATH</span><span class="w"> </span>make<span class="w"> </span><span class="nv">ARCH</span><span class="o">=</span>arm<span class="w"> </span><span class="nv">CROSS_COMPILE</span><span class="o">=</span>arm-linux-gnueabihf-<span class="w"> </span><span class="nv">INSTALL_MOD_PATH</span><span class="o">=</span>mnt/ext4<span class="w"> </span>modules_install
</span></code></pre></div>
<p>然后，备份原内核、复制新内核及设备树信息。mkknlimg这个工具高版本内核里面没有，去一个低版本里面下一个，然后放进来。原作者的dts下面没有分芯片，6.6版本的分了芯片，移动dtb的时候注意。</p>
<div class="language-bash highlight"><pre><span></span><code><span id="__span-20-1"><a id="__codelineno-20-1" name="__codelineno-20-1" href="#__codelineno-20-1"></a>sudo<span class="w"> </span>cp<span class="w"> </span>mnt/fat32/<span class="nv">$KERNEL</span>.img<span class="w"> </span>mnt/fat32/<span class="nv">$KERNEL</span>-backup.img
</span><span id="__span-20-2"><a id="__codelineno-20-2" name="__codelineno-20-2" href="#__codelineno-20-2"></a>./scripts/mkknlimg<span class="w"> </span>arch/arm/boot/zImage<span class="w"> </span>mnt/fat32/<span class="nv">$KERNEL</span>.img
</span><span id="__span-20-3"><a id="__codelineno-20-3" name="__codelineno-20-3" href="#__codelineno-20-3"></a>sudo<span class="w"> </span>cp<span class="w"> </span>arch/arm/boot/dts/broadcom/*.dtb<span class="w"> </span>mnt/fat32/
</span><span id="__span-20-4"><a id="__codelineno-20-4" name="__codelineno-20-4" href="#__codelineno-20-4"></a>sudo<span class="w"> </span>cp<span class="w"> </span>arch/arm/boot/dts/overlays/*.dtb*<span class="w"> </span>mnt/fat32/overlays/
</span><span id="__span-20-5"><a id="__codelineno-20-5" name="__codelineno-20-5" href="#__codelineno-20-5"></a>sudo<span class="w"> </span>cp<span class="w"> </span>arch/arm/boot/dts/overlays/README<span class="w"> </span>mnt/fat32/overlays/
</span><span id="__span-20-6"><a id="__codelineno-20-6" name="__codelineno-20-6" href="#__codelineno-20-6"></a>sudo<span class="w"> </span>umount<span class="w"> </span>mnt/fat32
</span><span id="__span-20-7"><a id="__codelineno-20-7" name="__codelineno-20-7" href="#__codelineno-20-7"></a>sudo<span class="w"> </span>umount<span class="w"> </span>mnt/ext4
</span></code></pre></div>
<p>将SD卡重新插入树莓派，启动树莓派，使用下列命令即可查看内核版本。</p>
<div class="language-bash highlight"><pre><span></span><code><span id="__span-21-1"><a id="__codelineno-21-1" name="__codelineno-21-1" href="#__codelineno-21-1"></a>uname<span class="w"> </span>-a
</span><span id="__span-21-2"><a id="__codelineno-21-2" name="__codelineno-21-2" href="#__codelineno-21-2"></a>
</span><span id="__span-21-3"><a id="__codelineno-21-3" name="__codelineno-21-3" href="#__codelineno-21-3"></a>pi@raspberrypi:~<span class="w"> </span>$<span class="w"> </span>uname<span class="w"> </span>-a
</span><span id="__span-21-4"><a id="__codelineno-21-4" name="__codelineno-21-4" href="#__codelineno-21-4"></a>Linux<span class="w"> </span>raspberrypi<span class="w"> </span><span class="m">6</span>.6.62-v7<span class="w"> </span><span class="c1">#4 SMP Sun Dec  1 17:17:33 CST 2024 armv7l GNU/Linux</span>
</span></code></pre></div>
<p>就会发现和拉取的版本一样了。</p>
<h3 id="helloworld">简易helloworld驱动<a class="headerlink" href="#helloworld" title="Permanent link">&para;</a></h3>
<p>创建工程目录：</p>
<div class="language-shell highlight"><pre><span></span><code><span id="__span-22-1"><a id="__codelineno-22-1" name="__codelineno-22-1" href="#__codelineno-22-1"></a><span class="c1"># 在宿主机中</span>
</span><span id="__span-22-2"><a id="__codelineno-22-2" name="__codelineno-22-2" href="#__codelineno-22-2"></a><span class="c1"># 创建目录，进入</span>
</span><span id="__span-22-3"><a id="__codelineno-22-3" name="__codelineno-22-3" href="#__codelineno-22-3"></a>mkdir<span class="w"> </span>-p<span class="w"> </span>/home/lqh/rpi3b_plus_workspace/example/01_helloworld<span class="w">  </span>
</span><span id="__span-22-4"><a id="__codelineno-22-4" name="__codelineno-22-4" href="#__codelineno-22-4"></a><span class="nb">cd</span><span class="w"> </span>/home/lqh/rpi3b_plus_workspace/example/01_helloworld
</span><span id="__span-22-5"><a id="__codelineno-22-5" name="__codelineno-22-5" href="#__codelineno-22-5"></a><span class="c1"># 创建驱动模块源码及Makefile</span>
</span><span id="__span-22-6"><a id="__codelineno-22-6" name="__codelineno-22-6" href="#__codelineno-22-6"></a>touch<span class="w"> </span>hello_drv.c<span class="w"> </span>Makefile
</span></code></pre></div>
<p>hello_drv.c</p>
<div class="language-c highlight"><pre><span></span><code><span id="__span-23-1"><a id="__codelineno-23-1" name="__codelineno-23-1" href="#__codelineno-23-1"></a><span class="cp">#include</span><span class="w"> </span><span class="cpf">&lt;linux/init.h&gt;</span>
</span><span id="__span-23-2"><a id="__codelineno-23-2" name="__codelineno-23-2" href="#__codelineno-23-2"></a><span class="cp">#include</span><span class="w"> </span><span class="cpf">&lt;linux/module.h&gt;</span>
</span><span id="__span-23-3"><a id="__codelineno-23-3" name="__codelineno-23-3" href="#__codelineno-23-3"></a>
</span><span id="__span-23-4"><a id="__codelineno-23-4" name="__codelineno-23-4" href="#__codelineno-23-4"></a><span class="k">static</span><span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">__init</span><span class="w"> </span><span class="nf">hello_init</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span>
</span><span id="__span-23-5"><a id="__codelineno-23-5" name="__codelineno-23-5" href="#__codelineno-23-5"></a><span class="p">{</span>
</span><span id="__span-23-6"><a id="__codelineno-23-6" name="__codelineno-23-6" href="#__codelineno-23-6"></a><span class="w">    </span><span class="n">printk</span><span class="p">(</span><span class="s">&quot;init kernel</span><span class="se">\n</span><span class="s">&quot;</span><span class="p">);</span>
</span><span id="__span-23-7"><a id="__codelineno-23-7" name="__codelineno-23-7" href="#__codelineno-23-7"></a><span class="w">    </span><span class="k">return</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
</span><span id="__span-23-8"><a id="__codelineno-23-8" name="__codelineno-23-8" href="#__codelineno-23-8"></a><span class="p">}</span>
</span><span id="__span-23-9"><a id="__codelineno-23-9" name="__codelineno-23-9" href="#__codelineno-23-9"></a><span class="n">module_init</span><span class="p">(</span><span class="n">hello_init</span><span class="p">);</span>
</span><span id="__span-23-10"><a id="__codelineno-23-10" name="__codelineno-23-10" href="#__codelineno-23-10"></a>
</span><span id="__span-23-11"><a id="__codelineno-23-11" name="__codelineno-23-11" href="#__codelineno-23-11"></a><span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="n">__exit</span><span class="w"> </span><span class="nf">hello_exit</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span>
</span><span id="__span-23-12"><a id="__codelineno-23-12" name="__codelineno-23-12" href="#__codelineno-23-12"></a><span class="p">{</span>
</span><span id="__span-23-13"><a id="__codelineno-23-13" name="__codelineno-23-13" href="#__codelineno-23-13"></a><span class="w">    </span><span class="n">printk</span><span class="p">(</span><span class="s">&quot;exit kernel</span><span class="se">\n</span><span class="s">&quot;</span><span class="p">);</span>
</span><span id="__span-23-14"><a id="__codelineno-23-14" name="__codelineno-23-14" href="#__codelineno-23-14"></a><span class="p">}</span>
</span><span id="__span-23-15"><a id="__codelineno-23-15" name="__codelineno-23-15" href="#__codelineno-23-15"></a><span class="n">module_exit</span><span class="p">(</span><span class="n">hello_exit</span><span class="p">);</span>
</span><span id="__span-23-16"><a id="__codelineno-23-16" name="__codelineno-23-16" href="#__codelineno-23-16"></a>
</span><span id="__span-23-17"><a id="__codelineno-23-17" name="__codelineno-23-17" href="#__codelineno-23-17"></a><span class="n">MODULE_LICENSE</span><span class="p">(</span><span class="s">&quot;GPL&quot;</span><span class="p">);</span><span class="w"> </span><span class="c1">// 开源许可证</span>
</span></code></pre></div>
<p>Makefile</p>
<div class="language-Makefile highlight"><pre><span></span><code><span id="__span-24-1"><a id="__codelineno-24-1" name="__codelineno-24-1" href="#__codelineno-24-1"></a><span class="c"># 模块驱动，必须以obj-m=xxx形式编写</span>
</span><span id="__span-24-2"><a id="__codelineno-24-2" name="__codelineno-24-2" href="#__codelineno-24-2"></a><span class="nv">obj-m</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>hello_drv.o
</span><span id="__span-24-3"><a id="__codelineno-24-3" name="__codelineno-24-3" href="#__codelineno-24-3"></a>
</span><span id="__span-24-4"><a id="__codelineno-24-4" name="__codelineno-24-4" href="#__codelineno-24-4"></a><span class="nv">KDIR</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>../linux-rpi-6.6.y
</span><span id="__span-24-5"><a id="__codelineno-24-5" name="__codelineno-24-5" href="#__codelineno-24-5"></a><span class="nv">CROSS</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="nv">ARCH</span><span class="o">=</span>arm<span class="w"> </span><span class="nv">CROSS_COMPILE</span><span class="o">=</span>arm-linux-gnueabihf-
</span><span id="__span-24-6"><a id="__codelineno-24-6" name="__codelineno-24-6" href="#__codelineno-24-6"></a>
</span><span id="__span-24-7"><a id="__codelineno-24-7" name="__codelineno-24-7" href="#__codelineno-24-7"></a><span class="nf">all</span><span class="o">:</span>
</span><span id="__span-24-8"><a id="__codelineno-24-8" name="__codelineno-24-8" href="#__codelineno-24-8"></a><span class="w">    </span><span class="k">$(</span>MAKE<span class="k">)</span><span class="w"> </span>-C<span class="w"> </span><span class="k">$(</span>KDIR<span class="k">)</span><span class="w"> </span><span class="nv">M</span><span class="o">=</span><span class="k">$(</span>PWD<span class="k">)</span><span class="w"> </span><span class="k">$(</span>CROSS<span class="k">)</span><span class="w"> </span>modules
</span><span id="__span-24-9"><a id="__codelineno-24-9" name="__codelineno-24-9" href="#__codelineno-24-9"></a>
</span><span id="__span-24-10"><a id="__codelineno-24-10" name="__codelineno-24-10" href="#__codelineno-24-10"></a><span class="nf">clean</span><span class="o">:</span>
</span><span id="__span-24-11"><a id="__codelineno-24-11" name="__codelineno-24-11" href="#__codelineno-24-11"></a><span class="w">    </span><span class="k">$(</span>MAKE<span class="k">)</span><span class="w"> </span>-C<span class="w"> </span><span class="k">$(</span>KDIR<span class="k">)</span><span class="w"> </span><span class="nv">M</span><span class="o">=</span><span class="sb">`</span><span class="nb">pwd</span><span class="sb">`</span><span class="w"> </span><span class="k">$(</span>CROSS<span class="k">)</span><span class="w"> </span>clean
</span></code></pre></div>
<div class="language-shell highlight"><pre><span></span><code><span id="__span-25-1"><a id="__codelineno-25-1" name="__codelineno-25-1" href="#__codelineno-25-1"></a><span class="c1"># 在Docker环境中</span>
</span><span id="__span-25-2"><a id="__codelineno-25-2" name="__codelineno-25-2" href="#__codelineno-25-2"></a><span class="c1"># 编译内核</span>
</span><span id="__span-25-3"><a id="__codelineno-25-3" name="__codelineno-25-3" href="#__codelineno-25-3"></a><span class="nb">cd</span><span class="w"> </span>/home/example/01_helloworld
</span><span id="__span-25-4"><a id="__codelineno-25-4" name="__codelineno-25-4" href="#__codelineno-25-4"></a>make
</span></code></pre></div>
<h2 id="_7">树莓派运行<a class="headerlink" href="#_7" title="Permanent link">&para;</a></h2>
<p>makefile编译完成后，直接make就行</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-26-1"><a id="__codelineno-26-1" name="__codelineno-26-1" href="#__codelineno-26-1"></a>make
</span></code></pre></div>
<p>将make生成的文件，通过scp传到树莓派上，我这里写了个脚本。具体的内容参数，自己修改。</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-27-1"><a id="__codelineno-27-1" name="__codelineno-27-1" href="#__codelineno-27-1"></a><span class="ch">#!/bin/sh</span>
</span><span id="__span-27-2"><a id="__codelineno-27-2" name="__codelineno-27-2" href="#__codelineno-27-2"></a>
</span><span id="__span-27-3"><a id="__codelineno-27-3" name="__codelineno-27-3" href="#__codelineno-27-3"></a><span class="nv">sendfile</span><span class="o">=</span><span class="s2">&quot;hello_drv.ko&quot;</span>
</span><span id="__span-27-4"><a id="__codelineno-27-4" name="__codelineno-27-4" href="#__codelineno-27-4"></a><span class="nv">pi_user</span><span class="o">=</span>pi
</span><span id="__span-27-5"><a id="__codelineno-27-5" name="__codelineno-27-5" href="#__codelineno-27-5"></a><span class="nv">pi_ip</span><span class="o">=</span><span class="m">192</span>.168.2.149
</span><span id="__span-27-6"><a id="__codelineno-27-6" name="__codelineno-27-6" href="#__codelineno-27-6"></a><span class="nv">pi_dir</span><span class="o">=</span>/home/pi/RpiDriver/01_helloworld
</span><span id="__span-27-7"><a id="__codelineno-27-7" name="__codelineno-27-7" href="#__codelineno-27-7"></a>
</span><span id="__span-27-8"><a id="__codelineno-27-8" name="__codelineno-27-8" href="#__codelineno-27-8"></a>scp<span class="w"> </span><span class="si">${</span><span class="nv">sendfile</span><span class="si">}</span><span class="w"> </span><span class="si">${</span><span class="nv">pi_user</span><span class="si">}</span>@<span class="si">${</span><span class="nv">pi_ip</span><span class="si">}</span>:<span class="si">${</span><span class="nv">pi_dir</span><span class="si">}</span>
</span><span id="__span-27-9"><a id="__codelineno-27-9" name="__codelineno-27-9" href="#__codelineno-27-9"></a>
</span><span id="__span-27-10"><a id="__codelineno-27-10" name="__codelineno-27-10" href="#__codelineno-27-10"></a><span class="c1"># scp hello_drv.ko pi@192.168.2.149:/home/pi/RpiDriver/01_helloworld</span>
</span></code></pre></div>
<p>发送树莓派前，在树莓派的指定文件夹下面先建立这些文件夹，不然发送文件会不成功，因为没有该路径</p>
<div class="language-bash highlight"><pre><span></span><code><span id="__span-28-1"><a id="__codelineno-28-1" name="__codelineno-28-1" href="#__codelineno-28-1"></a>mkdir<span class="w"> </span>01_helloworld<span class="w"> </span>02_led_drv_cdev<span class="w"> </span>03_led_drv_platform_device_driver<span class="w"> </span>04_led_drv_platform_dts_driver<span class="w"> </span>05_led_drv_pinctrl_gpio<span class="w"> </span>06_led_drv_misc<span class="w"> </span>07_key_drv_irq<span class="w"> </span>08_key_drv_irq_timer<span class="w"> </span>09_key_drv_irq_sleep_wakeup<span class="w"> </span>10_key_drv_irq_poll<span class="w"> </span>11_key_drv_irq_fasync<span class="w"> </span>12_key_drv_irq_block<span class="w"> </span>13_key_drv_irq_tasklet<span class="w"> </span>14_key_drv_irq_workqueue<span class="w"> </span>15_key_drv_irq_threaded<span class="w"> </span>16_pcf8591_drv_i2c<span class="w"> </span>17_oled_drv_spi<span class="w"> </span>18_pwm_drv
</span></code></pre></div>
<p>在树莓派上，我们需要加载并使用这个模块。</p>
<div class="language-BASH highlight"><pre><span></span><code><span id="__span-29-1"><a id="__codelineno-29-1" name="__codelineno-29-1" href="#__codelineno-29-1"></a>sudo<span class="w"> </span>insmod<span class="w"> </span>hello_drv.ko
</span><span id="__span-29-2"><a id="__codelineno-29-2" name="__codelineno-29-2" href="#__codelineno-29-2"></a>
</span><span id="__span-29-3"><a id="__codelineno-29-3" name="__codelineno-29-3" href="#__codelineno-29-3"></a>sudo<span class="w"> </span>rmmod<span class="w"> </span>hello_drv
</span></code></pre></div>
<p>可以使用dmesg查看运行过程中的变化</p>
<div class="language-bash highlight"><pre><span></span><code><span id="__span-30-1"><a id="__codelineno-30-1" name="__codelineno-30-1" href="#__codelineno-30-1"></a>dmesg<span class="w"> </span><span class="p">|</span><span class="w"> </span>tail<span class="w"> </span>-5
</span><span id="__span-30-2"><a id="__codelineno-30-2" name="__codelineno-30-2" href="#__codelineno-30-2"></a>
</span><span id="__span-30-3"><a id="__codelineno-30-3" name="__codelineno-30-3" href="#__codelineno-30-3"></a><span class="c1"># 查看内核打印信息</span>
</span><span id="__span-30-4"><a id="__codelineno-30-4" name="__codelineno-30-4" href="#__codelineno-30-4"></a><span class="o">[</span><span class="w">   </span><span class="m">19</span>.132265<span class="o">]</span><span class="w"> </span>Bluetooth:<span class="w"> </span>RFCOMM<span class="w"> </span>socket<span class="w"> </span>layer<span class="w"> </span>initialized
</span><span id="__span-30-5"><a id="__codelineno-30-5" name="__codelineno-30-5" href="#__codelineno-30-5"></a><span class="o">[</span><span class="w">   </span><span class="m">19</span>.132291<span class="o">]</span><span class="w"> </span>Bluetooth:<span class="w"> </span>RFCOMM<span class="w"> </span>ver<span class="w"> </span><span class="m">1</span>.11
</span><span id="__span-30-6"><a id="__codelineno-30-6" name="__codelineno-30-6" href="#__codelineno-30-6"></a><span class="o">[</span><span class="w"> </span><span class="m">6319</span>.896017<span class="o">]</span><span class="w"> </span>hello_drv:<span class="w"> </span>loading<span class="w"> </span>out-of-tree<span class="w"> </span>module<span class="w"> </span>taints<span class="w"> </span>kernel.
</span><span id="__span-30-7"><a id="__codelineno-30-7" name="__codelineno-30-7" href="#__codelineno-30-7"></a><span class="o">[</span><span class="w"> </span><span class="m">6319</span>.896438<span class="o">]</span><span class="w"> </span>init<span class="w"> </span>kernel<span class="w">                </span><span class="c1">#加载</span>
</span><span id="__span-30-8"><a id="__codelineno-30-8" name="__codelineno-30-8" href="#__codelineno-30-8"></a><span class="o">[</span><span class="w"> </span><span class="m">6390</span>.206953<span class="o">]</span><span class="w"> </span><span class="nb">exit</span><span class="w"> </span>kernel<span class="w">                  </span><span class="c1">#卸载</span>
</span></code></pre></div>












                
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